油气压裂机组无人机安全巡检路径规划  

Safety Inspection Path Planning for Unmanned Aerial Vehicle in Oil and Gas Fracturing Unit

作　　者：王锁男 张磊 刘少胡[1] WANG Suo-nan;ZHANG Lei;LIU Shao-hu(School of Mechanical Engineering,Yangtze University,Jingzhou 434022,China)

机构地区：[1]长江大学机械工程学院,荆州434022

出　　处：《科学技术与工程》2024年第25期10832-10840,共9页Science Technology and Engineering

基　　金：国家自然科学基金(52374002,51974036)。

摘　　要：压裂井场中的设备种类多、故障形式复杂,人工巡检难度大、效率低,故应用无人机(unmanned aerial vehicle,UAV)来代替人工巡检压裂井场。为了使无人机在压裂井场环境中能够进行有效的路径规划并且达到巡检的目的,提出了一种综合改进的快速随机搜索树(rapid-exploration random tree,RRT)算法来进行无人机路径轨迹规划。首先,添加改进人工势场法来改进新节点的延伸方向,随机树会受到目标点与障碍物合力的作用而更有目的性地扩展,从而提高无人机路径规划的效率。其次,加入剪枝的策略,删去随机树在扩展过程中多余的节点和折线段,缩短规划路径的长度。再次,对规划出来的轨迹做了Bezier曲线优化,使规划出的轨迹更符合无人机的运动特性,并为了防止优化后的路径轨迹与障碍物发生碰撞做了膨化障碍物处理。最后,基于机器人操作系统(robot operating system,ROS),对无人机巡检压裂井场进行了仿真实验。仿真实验表明,综合改进的RRT算法生成的路径更符合无人机的运动特性,具有路径短、耗时少的优势,并且可在避开障碍物的同时对压裂井场中的设备进行巡检。There are many types of equipment and complex failure forms in the fracturing well field,it is difficult and inefficient to inspect manually,so unmanned aerial vehicle(UAV)was applied to inspect the fracturing well field instead of manually.In order to enable UAV to perform effective path planning and achieve inspection purposes in the fracturing wellsite environment,a comprehensive and improved rapidly-exploring random trees(RRT)algorithm was proposed for UAV path trajectory planning.Firstly,an improved artificial potential field method was added to improve the extension direction of the new node,and the random tree was extended more purposefully by the combined force of the target point and the obstacle,thus improving the efficiency of UAV path planning.Secondly,a pruning strategy was added to shorten the length of the planning path by deleting the redundant nodes and folded segments of the random tree during the expansion process.Thirdly,Bezier curve optimisation was done on the planned trajectory so that the planned trajectory was more in line with the motion characteristics of the UAV,and in order to prevent the optimised path trajectory from colliding with the obstacles,an inflated obstacle processing was done.Finally,based on robot operating system(ROS),simulation experiments were carried out for UAV inspection of fracking well sites.Simulation experiments show that the path generated by the integrated and improved RRT algorithm is more in line with the motion characteristics of UAVs,has the advantages of short paths and less time-consuming,and can inspect the equipment in the fracturing well site while avoiding obstacles.

关 键 词：压裂井场 无人机 路径规划 RRT ROS 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]